CN103501154B - The low speed control of three-phase AC asynchronous motor - Google Patents
The low speed control of three-phase AC asynchronous motor Download PDFInfo
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- CN103501154B CN103501154B CN201310497217.3A CN201310497217A CN103501154B CN 103501154 B CN103501154 B CN 103501154B CN 201310497217 A CN201310497217 A CN 201310497217A CN 103501154 B CN103501154 B CN 103501154B
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Abstract
The invention discloses a kind of low speed control of three-phase AC asynchronous motor, described low speed control comprises: the main circuit, testing circuit, control circuit and the drive circuit that are connected in turn, wherein, described control circuit comprises: der Geschwindigkeitkreis module, for receiving given rotating speed and the feedback rotating speed of der Geschwindigkeitkreis, the set-point of calculating current ring also outputs to electric current loop; Electric current loop module, for receiving output valve and the electric current loop value of feedback of der Geschwindigkeitkreis, and the output valve of output current ring; Pulse-width control signal generation module, for receiving the output valve of described electric current loop and generating the pulse-width control signal controlling three-phase AC asynchronous motor.And this pulse-width control signal is transported to drive circuit, control three-phase AC asynchronous motor stable operation under lower-speed state.Pulsation when the present invention can suppress motor low cruise, the problem that noise is large, improve the operating efficiency of motor.
Description
Technical field
The present invention relates to the control device field of motor, be specifically related to a kind of low speed control of three-phase AC asynchronous motor.
Background technology
Make rapid progress along with industrial, the application of AC asynchronous motor is also more and more extensive, has the electric energy of more than 70% for the control of AC induction motor in daily life.Therefore, while satisfied operation, technique, production etc. require, reduce running wastage, extend electrical machinery life, study high performance electric machines control technology and be very important.
In the course of the work, its rotating speed is relevant with the frequency of power supply for alternating current motor, in order to make motor running stablize, usually changes the frequency of alternating current with frequency converter, thus reaches the object changing motor speed.When motor runs at low speeds, the Alternating Current Governor System be made up of frequency converter because detent torque is little, causes alternating current machine difficulty in starting even cannot start when low rate start; Due to can high order harmonic component be produced in frequency converter running, cause speed ripple and the electric motor overheating of motor, and motor running noise also strengthens, when frequency converter is apart from motor step from adding more greatly the interference of high order harmonic component to control circuit, very easily causing motor speed to pulse and running; When alternating current motor Steady-state in Low Speed runs, due to by voltage ripple of power network or the change of system load and the distortion of frequency converter output voltage waveform, the shake of motor will be caused.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of low speed control of three-phase AC asynchronous motor, solves the problem that above background technology part is mentioned.
Embodiments provide a kind of low speed control of three-phase AC asynchronous motor, described device comprises:
Main circuit, for providing voltage to three-phase AC asynchronous motor;
Testing circuit, for detecting the electric current of described three-phase AC asynchronous motor and carrying out current sample;
Control circuit, for generating pulse-width control signal according to the current signal computing sampled;
Drive circuit, for controlling described three-phase AC asynchronous motor according to the pulse-width control signal produced,
Wherein, described control circuit comprises:
Der Geschwindigkeitkreis module, for receiving given rotating speed and the feedback rotating speed of der Geschwindigkeitkreis, the set-point of calculating current ring also outputs to electric current loop, and wherein, the set-point of described electric current loop comprises given exciting current, given torque current and to phase bit;
Electric current loop module, for receiving output valve and the electric current loop value of feedback of der Geschwindigkeitkreis, and the output valve of output current ring;
Pulse-width control signal generation module, for receiving the output valve of described electric current loop and generating the pulse-width control signal controlling three-phase AC asynchronous motor.
Further, the response time of described der Geschwindigkeitkreis module is 1ms, and the response time of described electric current loop module is 200us.
Further, the feedback rotating speed that described der Geschwindigkeitkreis module receives obtains according to the computing of following formula 5:
Formula 5
ω＝ω
1-ω
2
Wherein, ω
1for stator frequency, obtained by integrator again according to the given rotating speed of der Geschwindigkeitkreis module and the difference of feedback rotating speed; ω
2for slippage, be designated as
wherein, T
rfor the time constant of rotor,
for the given torque current of electric current loop,
for the given exciting current of electric current loop.
Further, described given torque current obtains through proportional and integral controller computing according to the difference with reference to reactive power and feedback reactive power again.
Further, described electric current loop module also comprises torque current compensating unit, for when described three-phase AC asynchronous motor is at low speed and Light Condition, improves the given torque current of described electric current loop module.
Further, described torque current compensating module improves given torque current by increasing current compensation, and described current compensation obtains according to the computing of following formula 6:
Formula 6
Wherein, Δ ω is slip compensation, and described slip compensation obtains according to the computing of following formula 7:
Formula 7
Wherein,
for first threshold, ω
*for the given rotating speed that der Geschwindigkeitkreis module receives.
Further, the phase bit of giving of described electric current loop obtains after integrator according to stator frequency.
Further, described given exciting current according to the following equation 8 rule linear change,
Formula 8
Wherein, I
m0for the threshold current value of given exciting current, ω
0for Second Threshold, K
ω comfor proportionality constant.
Further, the DSP process chip that described control circuit is is core with TMS320F28035 micro controller.
Further, the low speed of described three-phase AC asynchronous motor controls to refer to that the rotating speed of three-phase AC asynchronous motor is in less than 10 of rated speed.
The low speed control of the three-phase AC asynchronous motor that the embodiment of the present invention provides, given rotating speed and feedback rotating speed is received by der Geschwindigkeitkreis module, the set-point of calculating current ring also outputs to electric current loop, output valve and the electric current loop value of feedback of der Geschwindigkeitkreis module is received by electric current loop module, and the output valve of output current ring, also generate by the output valve of pulse-width control signal generation module received current ring the pulse-width control signal controlling three-phase AC asynchronous motor, thus make three-phase AC asynchronous motor stable operation under lower-speed state.The problem that pulsation when the present invention can suppress motor low cruise, shake and noise are large, improves operating efficiency and the debug performance of motor.
Accompanying drawing explanation
Exemplary embodiment of the present invention will be described in detail by referring to accompanying drawing below, the person of ordinary skill in the art is more clear that above-mentioned and other feature and advantage of the present invention, in accompanying drawing:
Fig. 1 is the overall structure figure of the low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention;
Fig. 2 is the structured flowchart of the low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention;
Fig. 3 is the relationship vectors figure of three axles of the three-phase AC asynchronous motor of the embodiment of the present invention, the A-B-C reference axis of two dimension and two axles, two-dimentional alpha-beta two-phase static coordinate axle;
Fig. 4 be the three-phase AC asynchronous motor of the embodiment of the present invention be that the two-phase of benchmark rotates d-q reference axis and the relationship vectors figure controlling the upper dc-qc axle supposed with magnetic pole shaft;
Fig. 5 is that in the low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention, on dc axle, exciting current changes schematic diagram;
Fig. 6 is the sinusoidal waveform figure of three-phase AC asynchronous motor electric current under lower-speed state of the embodiment of the present invention;
Fig. 7 is the magnetic linkage angle oscillogram of three-phase AC asynchronous motor under lower-speed state of the embodiment of the present invention;
Fig. 8 be the embodiment of the present invention three-phase AC asynchronous motor from static accelerate to 1Hz time rotating speed and torque current oscillogram;
Fig. 9 is the three-phase AC asynchronous motor of embodiment of the present invention rotating speed and torque current oscillogram after loading when 1Hz.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not full content.
The low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention can apply to the driving lathe that three-phase AC asynchronous motor is housed, water pump, air blast, compressor, lifting hoisting equipment, mining machinery, light industry and machinery and the aspect such as household electrical appliance and medicine equipment, wherein, application in household electrical appliance is maximum, these household electrical appliance can be washing machines, electric fan, air conditioner, dust catcher, refrigerator, any one in lampblack absorber etc., use the three-phase AC asynchronous motor comprising the low speed control of the three-phase AC asynchronous motor that the embodiment of the present invention provides, motor can be made when low cruise, stable, noise is little, thus improve operating efficiency and the debug performance of motor.
Fig. 1 is the overall structure figure of the low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention.
As shown in Figure 1, the low speed control of this three-phase AC asynchronous motor comprises main circuit 11, testing circuit 12, control circuit 13, drive circuit 14.Wherein, described main circuit 11 comprises rectification circuit 111 and inverter circuit 112.
In the present embodiment, described main circuit 11, for providing voltage to three-phase AC asynchronous motor, comprises rectification circuit 111 and inverter circuit 112.
Wherein, described rectification circuit 111 is for being converted to the direct voltage of fixed voltage, fixed frequency by the three-phase alternating voltage of variable voltage, variable frequency.Described rectification circuit 111 is connected with inverter circuit 112, and described rectification circuit 111 is generally made up of transformer, rectification main circuit and filter etc.It is used widely in the speed governing of DC motor, the field such as excitation regulation, electrolysis, plating of generator, and filter is connected between rectification main circuit and inverter circuit, is mainly used in the alternating component in filtering pulsating dc voltage.
Described alternating voltage for the direct voltage of described fixed voltage, fixed frequency is converted to alternating voltage, and is applied to three-phase AC asynchronous motor by described inverter circuit 112.The output of described inverter circuit 112 is connected with three-phase AC asynchronous motor, and the other end is connected with drive circuit 14.
In the present embodiment, described testing circuit 12 comprises Hall current sampling element 121, for sampling to the electric current being applied to three-phase AC asynchronous motor by described inverter circuit 112.
In a preferred embodiment of the invention, described testing circuit 12 also comprises temperature detecting module 122, auxiliary power module 123, busbar voltage detection module 124.As shown in the dotted line frame in Fig. 1, wherein, described temperature detecting module 122 is for carrying out temperature detection to inverter circuit 112.Described auxiliary power module 123 is used as backup battery, under emergency rating, can make emergency power supply.Described busbar voltage detection module 124, for detecting the voltage being applied to three-phase AC asynchronous motor by described inversion module, avoids too high busbar voltage to cause damage to device in drive circuit.
In the present embodiment, the DSP process chip that the control circuit 13 of the low speed control employing of described three-phase AC asynchronous motor is is core with TMS320F28035 microcontroller, this microcontroller is a 32 bit data processors, have a wide range of applications in Motor Control Field, there is abundant Peripheral Interface, be integrated with 12 analog to digital converter (Analog-to-DigitalConverter up to 16 tunnels, be called for short ADC), for the analog signal of continuous variable is converted to discrete digital signal; Bus interface, it is externally connected to fail-safe system; External interrupt equipment; Orthogonal encoder pulse (QuadratureEncoderPulse is called for short QEP); Serial Peripheral Interface (SPI) (serialperipheralinterface is called for short SPI); Controller local area network (ControllerAreaNetwork, be called for short CAN), this microcontroller is integrated CAN controller in inside, sets up CAN real-time monitoring system with it, the ipc monitor equipment connected by outside, can be realized data and intercom mutually; Bus extender (GeneralPurposeInputOutput, be called for short GPIO), it is externally connected to bang-bang circuit and EEPROM (Electrically Erasable Programmable Read Only Memo), make controller after a loss of power data do not lose, and existing program reprogramming can be wiped.
In the present embodiment, the pulse-width control signal of described drive circuit 14 for generating according to described control circuit 13 computing, controls three-phase AC asynchronous motor.
In a preferred embodiment of the invention, the low speed control of described three-phase AC asynchronous motor also comprises fault secure circuit 15, described fault secure circuit 15 is for according to Hall current sampling module 121 in described testing circuit, the electric current that temperature detecting module 122 and busbar voltage detection module 124 detect respectively, temperature and voltage are protected described three-phase AC asynchronous motor, and described fault secure circuit 15 can connect outside terminal, equipment in the screen of control circuit 13 is connected with the circuit of Folding-Screen external equipment, play the effect of Signal transmissions.
Fig. 2 is the structured flowchart of the low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention; as shown in Figure 2, the low speed control of this three-phase AC asynchronous motor comprises main circuit 21, testing circuit 22, control circuit 23, drive circuit 24, fault secure circuit 25.Wherein, described main circuit 21 comprises rectification circuit 211 and inverter circuit 212, and described testing circuit 22 comprises Hall current sampling module 221, temperature detecting module 222, auxiliary power module 223 and busbar voltage detection module 224.
In fig. 2, described main circuit 21, testing circuit 22, drive circuit 24 and fault secure circuit 25 and the main circuit 11 described in Fig. 1, testing circuit 12, drive circuit 14 are identical with fault secure circuit 15, do not repeat them here.
In the present embodiment, the current signal computing that described control circuit 23 samples according to the Hall current sampling module 221 in testing circuit 22 generates pulse-width control signal (PWM).Particularly, described control circuit 23 comprises der Geschwindigkeitkreis module 231, electric current loop module 232 and pulse-width control signal generation module 233.Wherein, described der Geschwindigkeitkreis module 231 is for receiving the given rotating speed ω of der Geschwindigkeitkreis
*with feedback rotational speed omega, by given rotating speed ω
*stator frequency ω is obtained by first integrator with the difference of feedback rotational speed omega
1, according to ω
1in conjunction with the feedback current of electric current loop module 232, the set-point of calculating current ring module 232 also outputs to electric current loop, and wherein, the set-point of described electric current loop comprises given exciting current
given torque current
with given phase theta.When three-phase AC asynchronous motor is under low speed or Light Condition, torque current is generally negative value or very little, and therefore, the embodiment of the present invention improves given torque current by torque current compensating unit 2321
described electric current loop module 232 receives output valve and the electric current loop feedback current i of der Geschwindigkeitkreis module 231
dand i
q, by the given exciting current of electric current loop module 232
with feedback current i
ddifference through the second pi regulator, just obtain the output voltage of electric current loop
by the given torque current of electric current loop module 232
with feedback current i
qdifference through the 3rd pi regulator, just obtain the output voltage of electric current loop
in addition, by by stator frequency ω
1the given AC phases θ of electric current loop module 232 is obtained, by the output voltage of electric current loop after integral operation
with
carry out Park inverse transformation in conjunction with given AC phases θ, obtain the voltage putting on three-phase AC asynchronous motor
with
again will
with
three pulse duty factors are obtained after carrying out vector calculus algorithm
with
wherein, described vector calculus optimal algorithm selection can be space vector pulse width modulation (SVPWM) algorithm, pulse-width control signal generation module 233 basis
with
obtain pulse-width control signal, pwm signal is applied on drive circuit 24, drive opening and disconnecting of the insulated gate bipolar transistor (IGBT) of inverter circuit 212, when drive circuit 24 is opened, this pulse-width control signal is transported to inverter circuit 212, the interchange of inverter circuit 212 is exported side as control object, such as can be attached the three-phase AC asynchronous motor thus the stable operation under lower-speed state of control three-phase AC asynchronous motor that are made up of magnetic motor, described low speed refers to that the rotating speed of three-phase AC asynchronous motor is in less than 10% of rated speed, namely the low speed control of three-phase AC asynchronous motor that the embodiment of the present invention provides can make motor in less than 10% stable operation of rated speed.Thus, achieve the operation that three-phase AC asynchronous motor is stable under lower-speed state, when can be good at suppressing motor low cruise, the pulsation that occurs and the large problem of noise, improve operating efficiency and the debug performance of motor.
Fig. 3 is the relationship vectors figure of three axles of the three-phase AC asynchronous motor of the embodiment of the present invention, the A-B-C reference axis of two dimension and two axles, two-dimentional alpha-beta two-phase static coordinate axle.In the present embodiment, Hall current sampling module 221 sampling in testing circuit 22 obtains three-phase alternating current, be two-phase quiescent current coordinate system by three-phase alternating current coordinate system transformation after Clark coordinate transform, the current circuit equation on two phase windings is simplified to by the current circuit equation on original three-phase windings, be two-phase stationary stator alpha-beta coordinate system from threephase stator A-B-C ordinate transform, thus Hall current sampling module is collected three-phase current i
a, i
band i
cbe converted into biphase current i
αand i
β, convenient process.
Fig. 4 is the magnetic pole shaft of the three-phase AC asynchronous motor of the embodiment of the present invention is the d-q reference axis of benchmark and the relationship vectors figure controlling the upper dc-qc axle supposed, by the biphase current i after Clark coordinate transform
αand i
βthrough Park coordinate transform, obtain the feedback current i of dc axle and the qc axle orthogonal with dc axle respectively
dand i
q.As shown in Figure 4, using the actual magnetic pole axis in three-phase AC asynchronous motor as d axle, using the axle orthogonal with d axle as q axle, and then be dc-qc axle the two-phase rotatable coordinate axis supposed in controller, the benefit of such process is, alternating current is after Clark coordinate transform, torque still relies on rotor flux, conveniently control and calculate, carry out the coordinate system after Park conversion to it again to rotate with the speed that rotor is identical, and dc axle is identical with rotor flux position, then torque current expression formula is only relevant with phase place, achieve static coordinate and be tied to the conversion with the coordinate system of the magnetic pole shaft synchronous rotary of three-phase AC asynchronous motor, thus convenient control and calculating.
In the present embodiment, described der Geschwindigkeitkreis module 231 is for receiving the given rotating speed ω of der Geschwindigkeitkreis
*with feedback rotational speed omega, the set-point of calculating current ring module 232 also outputs to electric current loop, and wherein, the set-point of described electric current loop module 232 comprises given exciting current
given torque current
with given phase theta.The response time of described der Geschwindigkeitkreis module 231 is 1ms, and the response time of described electric current loop module 232 is 200us.
Particularly, the feedback rotating speed that described der Geschwindigkeitkreis module 231 receives obtains according to the computing of following formula 9:
Formula 9
ω＝ω
1-ω
2
Wherein, ω
1for stator frequency, according to the given rotating speed ω of der Geschwindigkeitkreis module 231
*obtained by integrator again with the difference of feedback rotational speed omega; ω
2for slippage rotating speed, if rotor resistance is designated as R, the time constant of rotor is designated as T
r=L
m/ R, then described slippage rotational speed omega
2can obtain according to following formula 10 computing,
Formula 10
In the present embodiment, described given exciting current
according to stator frequency ω
1change linear change, when described three-phase AC asynchronous motor just starts, described given exciting current
comparatively large, make described three-phase AC asynchronous motor can set up magnetic field fast; After the stable magnetic field of described three-phase AC asynchronous motor, described given exciting current
less.
Fig. 5 is given exciting current in the low speed control of the three-phase AC asynchronous motor of the embodiment of the present invention
change schematic diagram, as shown in Figure 5, if be designated as I the threshold current value of exciting current
m0, Second Threshold is designated as ω
0, the stator frequency of three-phase AC asynchronous motor is designated as ω
1, proportionality constant is designated as K
ω com, then described given exciting current
the rule linear change of 11 according to the following equation,
Formula 11
In the present embodiment, described given torque current
according to reference reactive power q
m *with feedback reactive power q
mdifference obtained by the first pi regulator again.
If the qc axle mutual inductance of three-phase AC asynchronous motor is designated as L
m, then described reference reactive power is
described feedback reactive power
wherein I
sfor the stator current of three-phase AC asynchronous motor, e
mfor the induced voltage of three-phase AC asynchronous motor, then with reference to reactive power q
m *with feedback reactive power q
mpass through the first pi regulator again by the difference of subtracter, just obtain given torque current
In the present embodiment, when three-phase AC asynchronous motor runs under low speed and Light Condition, because reactive power is very little, interference makes the torque current on qc axle be negative value usually, this makes, and the load capacity of three-phase AC asynchronous motor is very little even to be completely lost, therefore, electric current loop module 232 improves the torque current on qc axle by torque current compensating unit 2321.Particularly, described torque current compensating unit 2321 improves given torque current by increasing current compensation, and described current compensation obtains according to the computing of following formula 12:
Formula 12
Wherein, Δ ω is slip compensation, and described slip compensation obtains according to the computing of following formula 13:
Formula 13
Wherein,
for first threshold, ω
*for the given rotating speed that der Geschwindigkeitkreis module 231 receives, work as ω
*be more than or equal in first threshold
time, torque current compensating unit 2321 does not carry out current compensation, works as ω
*be less than first threshold
time, torque current compensating unit 2321 carries out current compensation, improves given torque current
In the present embodiment, by stator frequency ω
1by second integral device, just obtain the given phase theta that the driving frequency of three-phase AC asynchronous motor is relevant.
In the present embodiment, described electric current loop module 232 receives output valve and the electric current loop value of feedback of der Geschwindigkeitkreis module 231, by given exciting current
with given torque current
respectively with the feedback current i of electric current loop module 232
dand i
qsubtract each other, will the two difference respectively through second and the 3rd pi regulator, just obtain the output voltage on the dc axle of electric current loop and qc axle
with
will
after park inverse transformation, the voltage putting on three-phase AC asynchronous motor is obtained with θ
with
will
with
three pulse duty factors are obtained after vector calculus algorithm
with
wherein, described vector calculus optimal algorithm selection can be space vector pulse width modulation (SVPWM) algorithm.
In the present embodiment, described pulse width control waveform generating module 233 is according to described pulse duty factor
with
generate pulse-width control signal (pwm signal).Pwm signal is applied on drive circuit 24, drive opening and disconnecting of the insulated gate bipolar transistor (IGBT) of inverter circuit 212, in the output side of inverter circuit 212 as control object, such as be connected to the three-phase AC asynchronous motor be made up of magnet electric motor, thus achieve the operation that three-phase AC asynchronous motor is good under lower-speed state, can be good at pulsation when suppressing motor low cruise and the large problem of noise, improve operating efficiency and the debug performance of motor.
Fig. 6 is the current sinusoidal oscillogram of three-phase AC asynchronous motor when 1Hz of the embodiment of the present invention.In the embodiment of the present invention, the rated speed of motor is 50HZ, and therefore, motor is in low-speed run state when 1HZ.As shown in Figure 6, lines 51 and lines 52 represent the phase asynchronous electronic A phase current waveform figure under lower-speed state and B phase current waveform figure respectively, can find, the low speed control of the motor that the embodiment of the present invention provides makes the waveform comparison of electric current level and smooth, and electric machine rotation is more steady.Change that the current distortion of traditional three-phase AC asynchronous motor under low-speed run state is relatively serious, response speed slow, the situation that control precision is low, dynamic performance index is poor of governing system.
Fig. 7 is the magnetic linkage angle oscillogram of three-phase AC asynchronous motor when rotating speed is 1HZ of the embodiment of the present invention.Can find from Fig. 7, when the rotating speed of three-phase AC asynchronous motor is 1Hz, the low speed control of the three-phase AC asynchronous motor that the embodiment of the present invention provides makes the change of the continuous and stable of magnetic linkage angle in the scope of 0 ° ~ 360 ° (corresponding perunit value is 0 ~ 1), changes the problem that the magnetic linkage distortion of traditional three-phase AC asynchronous motor under low-speed run state is more serious.
Fig. 8 be the embodiment of the present invention three-phase AC asynchronous motor from static accelerate to 1Hz time rotating speed and torque current oscillogram.In fig. 8, lines 71 represent three-phase AC asynchronous motor from static accelerate to 1Hz time speed waveform figure, lines 72 represent three-phase AC asynchronous motor from static accelerate to 1Hz time torque current oscillogram, can find from figure, three-phase AC asynchronous motor is when starting to accelerate, some fluctuation of torque current, but settle out rapidly in a short period of time, and three-phase AC asynchronous motor also reaches plateau quickly.
Fig. 9 is the three-phase AC asynchronous motor of embodiment of the present invention rotating speed and torque current oscillogram after loading when 1Hz.In fig .9, lines 81 represent the speed waveform figure of three-phase AC asynchronous motor when 1Hz after loading, and lines 82 represent the torque current oscillogram of three-phase AC asynchronous motor when 1Hz after loading, as we can see from the figure, and the torque current I of motor
qbecome along with the increasing of load large, thus match with the load added by three-phase AC asynchronous motor, finally reaching one can balanced loaded stationary value.This waveform illustrates that the low speed control of the three-phase AC asynchronous motor that the embodiment of the present invention provides makes three-phase AC asynchronous motor have very strong load capacity, generally, the output current of three-phase AC asynchronous motor can reach about 150% of rated current, therefore, the three-phase AC asynchronous motor that the embodiment of the present invention provides makes motor have stronger load capacity under lower-speed state.
The low speed control of the three-phase AC asynchronous motor that the embodiment of the present invention provides, given rotating speed and feedback rotating speed is received by der Geschwindigkeitkreis module, the set-point of calculating current ring also outputs to electric current loop, output valve and the electric current loop value of feedback of der Geschwindigkeitkreis module is received by electric current loop module, and the output valve of output current ring, also generate by the output valve of pulse-width control signal generation module received current ring the pulse-width control signal controlling three-phase AC asynchronous motor, thus make three-phase AC asynchronous motor stable operation under lower-speed state.Thus, achieve that three-phase AC asynchronous motor is stable in running at low speeds, torque pulsation is little, electric current and magnetic linkage steadily, fast response time, thus make the main flow that it will make AC induction motor also can become industrial motor speed governing in low cruise, to equipment cost, maintenance, energy-conservation etc. also will produce important meaning.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of computer installation, thus they storages can be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to the combination of any specific hardware and software.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, to those skilled in the art, the present invention can have various change and change.All do within spirit of the present invention and principle any amendment, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a low speed control for three-phase AC asynchronous motor, is characterized in that, comprising:
Main circuit, for providing voltage to three-phase AC asynchronous motor;
Testing circuit, for detecting the electric current of described three-phase AC asynchronous motor and carrying out current sample;
Control circuit, for generating pulse-width control signal according to the current signal computing sampled;
Drive circuit, for controlling described three-phase AC asynchronous motor according to the pulse-width control signal produced,
Wherein, described control circuit comprises:
Der Geschwindigkeitkreis module, for receiving given rotating speed and the feedback rotating speed of der Geschwindigkeitkreis, the set-point of calculating current ring also outputs to electric current loop, and wherein, the set-point of described electric current loop comprises given exciting current, given torque current and to phase bit;
Electric current loop module, for receiving output valve and the electric current loop value of feedback of der Geschwindigkeitkreis, and the output valve of output current ring; Described electric current loop module also comprises torque current compensating unit, for when described three-phase AC asynchronous motor is at low speed and Light Condition, improves the given torque current of described electric current loop module;
Pulse-width control signal generation module, for receiving the output valve of described electric current loop and generating the pulse-width control signal controlling three-phase AC asynchronous motor.
2. the low speed control of three-phase AC asynchronous motor according to claim 1, is characterized in that, the response time of described der Geschwindigkeitkreis module is 1ms, and the response time of described electric current loop module is 200us.
3. the low speed control of three-phase AC asynchronous motor according to claim 1, is characterized in that, the feedback rotating speed that described der Geschwindigkeitkreis module receives obtains according to the computing of following formula 1:
Formula 1
ω＝ω
1-ω
2
Wherein, ω
1for stator frequency, obtained by integrator again according to the given rotating speed of der Geschwindigkeitkreis module and the difference of feedback rotating speed; ω
2for slippage, be designated as
wherein, T
rfor the time constant of rotor,
for the given torque current of electric current loop,
for the given exciting current of electric current loop.
4. the low speed control of three-phase AC asynchronous motor according to claim 3, is characterized in that, described given torque current obtains through proportional and integral controller computing according to the difference with reference to reactive power and feedback reactive power again.
5. the low speed control of three-phase AC asynchronous motor according to claim 1, is characterized in that, described torque current compensating module improves given torque current by current compensation, and described current compensation obtains according to the computing of following formula 2:
Formula 2
Wherein, T
rfor the time constant of rotor,
for the given exciting current of electric current loop, Δ ω is slip compensation, and described slip compensation obtains according to the computing of following formula 3:
Formula 3
Wherein,
for first threshold, ω
*for the given rotating speed that der Geschwindigkeitkreis module receives.
6. the low speed control of three-phase AC asynchronous motor according to claim 3, is characterized in that, the phase bit of giving of described electric current loop obtains after integrator according to described stator frequency.
7. the low speed control of three-phase AC asynchronous motor according to claim 3, is characterized in that, described given exciting current according to the following equation 4 rule linear change,
Formula 4
Wherein, I
m0for the threshold current value of given exciting current, ω
0for Second Threshold, K
ω comfor proportionality constant.
8. the low speed control of three-phase AC asynchronous motor according to claim 1, is characterized in that, the DSP process chip that described control circuit is is core with TMS320F28035 micro controller.
9. the low speed control of three-phase AC asynchronous motor according to claim 1, is characterized in that, the low speed of described three-phase AC asynchronous motor controls to refer to that the rotating speed of three-phase AC asynchronous motor is in less than 10 of rated speed.
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| CN201310497217.3A CN103501154B (en) | 2013-10-21 | 2013-10-21 | The low speed control of three-phase AC asynchronous motor |
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| CN201310497217.3A CN103501154B (en) | 2013-10-21 | 2013-10-21 | The low speed control of three-phase AC asynchronous motor |
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| JP6400617B2 (en) * | 2016-02-29 | 2018-10-03 | ファナック株式会社 | Motor control device having torque command limiter |
| CN106602951B (en) * | 2016-12-07 | 2019-04-09 | 华南理工大学 | A kind of compressor of air conditioner fluctuation of speed suppressing method |
| CN107017808B (en) * | 2017-06-09 | 2019-03-29 | 哈尔滨工业大学 | The continuous estimation method of synchronous motor rotor position based on pulsation exciting current response |
| CN110784135B (en) * | 2019-11-11 | 2021-08-24 | 日立楼宇技术（广州）有限公司 | Motor control method and motor control system |
| CN114123907B (en) * | 2021-11-25 | 2023-09-22 | 珠海格力电器股份有限公司 | Permanent magnet synchronous motor low-speed operation control method and device and permanent magnet synchronous motor |
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